巡检机器人新型剪式自动伸缩机构的设计研究

Design and Research of New Scissor-type Automatic Telescopic Mechanism for Inspection Robot

针对目前轨道式巡检机器人伸缩机构存在的不足,在对巡检机器人伸缩机构运动要求分析和运动方案对比的基础上,提出了一种新型剪式自动伸缩机构,介绍了该剪式自动伸缩机构的构型设计、结构组成和控制方案设计,利用虚功原理对剪式伸缩机构进行了动力学分析,并在ADAMS中完成伸缩机构的动力学建模和仿真分析,获得机构的运动特征曲线。利用该剪式自动伸缩机构,在保证检测仪器升降运动平稳性的同时大幅度减少了高空处的巡检盲区,提高了轨道式巡检机器人检测过程的平稳性和检测范围的全面性。

In view of the shortcomings of the telescopic mechanism of the current orbital inspection robot,a new scissor-type automatic telescopic mechanism is proposed based on the analysis of the motion requirements of the telescopic mechanism of the inspection robot and the comparison of the motion schemes.This paper introduces the configuration design,structure composition and control scheme design of the scissor-type automatic telescopic mechanism,and makes dynamic analysis on the scissor-type telescopic mechanism by using the virtual work principle.The dynamic modeling and simulation analysis of the telescopic mechanism are completed in ADAMS to obtain the motion characteristics curve of the mechanism.The use of the scissor-type automatic telescoping mechanism can greatly reduce the inspection blind area at high altitude while ensuring the smoothness of the lifting movement of the detection instrument,and improve the stability of the inspection process of the orbital inspection robot and the comprehensiveness of the detection range.